io Services

SetCtrlBoxDigitalOutput 

This is a service to check the current signal status of the digital contact mounted on the end of the robot from the robot controller.

int8       index    # ctrlbox digital output port(1 ~ 16)
int8       value    0 = ON, 1 = OFF !!! 매뉴얼과 반대

Response:

bool        success

This is a service to check the current output status of the digital contact mounted on the control box in the robot controller.

Request:

int8       index    # Control box digital output port (1 ~ 16)

Response:

int8       value    # Current output status (0 = ON, 1 = OFF) !!!! manual은 반대로
bool       success

This service reads the I/O signals from digital contact points of the controller and reads the digital input contact value.

Request:

int8        index    # Digital Input in Control Box (1 ~ 16)

Response:

int8        value    # 0 = OFF, 1 = ON
bool        success

This service sends the signal of the robot tool from the digital contact point.

Request:

int8       index   # flange digital output port(1 ~ 6)
int8       value   # 0 : ON, 1 : OFF

Response:

bool       success

This service gets the current tool IO output status.

Request:

int8       index    # Flange digital output port (1 ~ 6)

Response:

int8       value    # Current output status (0 = ON, 1 = OFF) !!! manual과 반대
bool       success

This service reads the signals from digital contact points of the controller.

Request:

int8        index    # Digital Input in Flange (1 ~ 6)

Response:

int8        value    # 0 = OFF, 1 = ON
bool        success

This service outputs the channel value corresponding to the controller analog output.

Request:

int8        channel  # 1 = ch1, 2 = ch2
float64     value

Response:

bool        success

This service sets the channel mode of the controller analog input.

Request:

int8        channel  # 1 = ch1, 2 = ch2
int8        mode     # 0 = current, 1 = voltage

Response:

bool        success

This service sets the channel mode of the controller analog output.

Request:

int8        channel  # 1 = ch1, 2 = ch2
int8        mode     # 0 = current, 1 = voltage

Response:

bool        success

This service reads the channel value corresponding to the controller analog input.

Request:

int8        channel    # 1 = ch1, 2= ch2

Response:

float64     value
bool        success